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人采用了一种多重四连杆结构，使它很容易将枪口与壁面保持垂直、等距的关系，减少了伺服关节，降低了控制难度。其控制方式为遥控主从加自动轨迹控制。经现场实验表明，机器人的结构设计与控制系统设计都是成功的，达到了结构简单，操作方便和实用的目的。
People use a multi-four-bar structure, it is easy to keep the muzzle and the wall vertical and equidistant relationship, reducing the servo joint, reducing the control difficulty. The control mode for the remote master plus automatic trajectory control. The field experiments show that the robot structure design and control system design are successful, to achieve a simple structure, easy operation and practical purposes.